Graceful degradation of cooperative adaptive cruise control

J. Ploeg, E. Semsar-Kazerooni, G. Lijster, N. Wouw, van de, H. Nijmeijer

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

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Uittreksel

Cooperative adaptive cruise control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as latency and packet loss. In the latter case, it would effectively degrade to conventional adaptive cruise control (ACC), thereby increasing the minimal intervehicle distance needed for string-stable behavior. To partially maintain the favorable string stability properties of CACC, a control strategy for graceful degradation of one-vehicle look-ahead CACC is proposed, based on estimating the preceding vehicle's acceleration using onboard sensors, such that the CACC can switch to this strategy in case of persistent packet loss. In addition, a switching criterion is proposed in the case that the wireless link exhibits increased latency but does not (yet) suffer from persistent packet loss. It is shown through simulations and experiments that the proposed strategy results in a noticeable improvement of string stability characteristics, when compared with the ACC fallback scenario.
Originele taal-2Engels
Pagina's (van-tot)488-497
TijdschriftIEEE Transactions on Intelligent Transportation Systems
Volume16
Nummer van het tijdschrift1
DOI's
StatusGepubliceerd - 2015

Vingerafdruk

Adaptive cruise control
Degradation
Packet loss
Communication
Sensors
Telecommunication links
Switches

Citeer dit

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title = "Graceful degradation of cooperative adaptive cruise control",
abstract = "Cooperative adaptive cruise control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as latency and packet loss. In the latter case, it would effectively degrade to conventional adaptive cruise control (ACC), thereby increasing the minimal intervehicle distance needed for string-stable behavior. To partially maintain the favorable string stability properties of CACC, a control strategy for graceful degradation of one-vehicle look-ahead CACC is proposed, based on estimating the preceding vehicle's acceleration using onboard sensors, such that the CACC can switch to this strategy in case of persistent packet loss. In addition, a switching criterion is proposed in the case that the wireless link exhibits increased latency but does not (yet) suffer from persistent packet loss. It is shown through simulations and experiments that the proposed strategy results in a noticeable improvement of string stability characteristics, when compared with the ACC fallback scenario.",
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Graceful degradation of cooperative adaptive cruise control. / Ploeg, J.; Semsar-Kazerooni, E.; Lijster, G.; Wouw, van de, N.; Nijmeijer, H.

In: IEEE Transactions on Intelligent Transportation Systems, Vol. 16, Nr. 1, 2015, blz. 488-497.

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

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AU - Nijmeijer, H.

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AB - Cooperative adaptive cruise control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as latency and packet loss. In the latter case, it would effectively degrade to conventional adaptive cruise control (ACC), thereby increasing the minimal intervehicle distance needed for string-stable behavior. To partially maintain the favorable string stability properties of CACC, a control strategy for graceful degradation of one-vehicle look-ahead CACC is proposed, based on estimating the preceding vehicle's acceleration using onboard sensors, such that the CACC can switch to this strategy in case of persistent packet loss. In addition, a switching criterion is proposed in the case that the wireless link exhibits increased latency but does not (yet) suffer from persistent packet loss. It is shown through simulations and experiments that the proposed strategy results in a noticeable improvement of string stability characteristics, when compared with the ACC fallback scenario.

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